Wayne,
Thanks for your enquiry. I believe we can help you out here, however we will need to know a little bit more about your motors as we need to look at what current you are drawing and also the inductance of the motors. Can you PM me with your phone number so I can give you a call. If this is not convenient, I am happy to contact you via email. The encoder res is not an issue, we can also take single ended or differential feedback.
Regards
Dave